def plot_glab_statistics(df_dopenu: pd.DataFrame,
scale: float,
logger: logging.Logger,
showplot: bool = False):
"""
plot_glab_statistics plots the position statitictics according to COP bins
"""
cFuncName = colored(os.path.basename(__file__),
'yellow') + ' - ' + colored(
sys._getframe().f_code.co_name, 'green')
logger.info(
'{func:s}: plotting position statistics'.format(func=cFuncName))
# set up the plot
plt.style.use('ggplot')
# get info for the plot titles
plot_title, proc_options, rx_geod = amc.get_title_info(logger=logger)
# create additional column assigning the values of crd diffs to the correct PDOP bin
dop_bins = []
for dop_min, dop_max in zip(amc.dRTK['dop_bins'][:-1],
amc.dRTK['dop_bins'][1:]):
bin_interval = 'bin{:d}-{:.0f}'.format(dop_min, dop_max)
dop_bins.append(bin_interval)
logger.info('{func:s}: setting for PDOP bin = {bin!s}'.format(
bin=bin_interval, func=cFuncName))
# add column 'bin' for grouping the results during plotting
df_dopenu.loc[(df_dopenu['PDOP'] > dop_min) &
(df_dopenu['PDOP'] <= dop_max), 'bin'] = bin_interval
# amutils.printHeadTailDataFrame(df=df_dopenu, name='df_dopenu', index=False)
fig, axes = plt.subplots(nrows=4,
ncols=len(dop_bins),
sharex=True,
sharey='row',
figsize=(18, 8),
gridspec_kw={
'height_ratios': (.065, .065, .065, .805),
'wspace': 0.02,
'hspace': 0.02
})
# define the axis used for the boxplots and histogram
ax_box = axes[:3]
ax_hist = axes[-1]
for axis in ax_hist:
axis.set_xlim([-1.5 * scale, +1.5 * scale])
# go over the coordinate differences
for i, (crd,
enu_color) in enumerate(zip(['dN0', 'dE0', 'dU0'],
glc.enu_colors)):
# create the plot holding for each DOP bin the histogram and bixplot combined in a subfigure
for j, bin in enumerate(dop_bins):
# boxplot in above 3xj subplots
sns.boxplot(df_dopenu.loc[df_dopenu['bin'] == bin][crd],
ax=ax_box[i][j],
orient='h',
color=enu_color,
width=0.9,
linewidth=1)
cur_xaxis = ax_box[i][j].axes.get_xaxis()
cur_xaxis.set_visible(False)
# cur_yaxis = ax_box[i][j].axes.get_yaxis()
if j == 0:
ax_box[i][j].set_ylabel(crd, color=enu_color)
else:
cur_yaxis = ax_box[i][j].axes.get_yaxis()
cur_yaxis.set_visible(False)
# distplot in last subplot for column j
sns.distplot(df_dopenu.loc[df_dopenu['bin'] == bin][crd],
ax=ax_hist[j],
color=glc.enu_colors[i])
ax_hist[j].set_xlabel('PDOP[{bin:s}]'.format(bin=bin[3:]))
# global title
fig.suptitle('{title:s}'.format(title=plot_title), **glc.title_font)
# plot annotations
ax_box[0][0].annotate('{conf:s}'.format(conf=amc.dRTK['glab_out']),
xy=(0, 1),
xycoords='axes fraction',
xytext=(0, 0),
textcoords='offset pixels',
horizontalalignment='left',
verticalalignment='bottom',
weight='ultrabold',
fontsize='small')
ax_box[0][-1].annotate(proc_options,
xy=(1, 1),
xycoords='axes fraction',
xytext=(0, 0),
textcoords='offset pixels',
horizontalalignment='right',
verticalalignment='bottom',
weight='ultrabold',
fontsize='small')
# copyright this
ax_hist[-1].annotate(r'$\copyright$ Alain Muls ([email protected])',
xy=(1, 0),
xycoords='axes fraction',
xytext=(0, -50),
textcoords='offset pixels',
horizontalalignment='right',
verticalalignment='bottom',
weight='ultrabold',
fontsize='x-small')
# save the plot in subdir png of GNSSSystem
dir_png = os.path.join(amc.dRTK['dir_root'],
amc.dRTK['dgLABng']['dir_glab'], 'png')
png_filename = os.path.join(
dir_png, '{out:s}-boxhist.png'.format(
out=amc.dRTK['glab_out'].replace('.', '-')))
amutils.mkdir_p(dir_png)
fig.savefig(png_filename, dpi=fig.dpi)
logger.info('{func:s}: created scatter plot {plot:s}'.format(
func=cFuncName, plot=colored(png_filename, 'green')))
plt.show()
def plot_glab_scatter_bin(dfCrd: pd.DataFrame,
scale: float,
center: str,
logger: logging.Logger,
showplot: bool = False):
"""
plot_glab_scatter plots the horizontal position difference wrt to Nominal a priori position
"""
cFuncName = colored(os.path.basename(__file__),
'yellow') + ' - ' + colored(
sys._getframe().f_code.co_name, 'green')
logger.info('{func:s}: plotting EN scattering'.format(func=cFuncName))
# # select colors for E, N, U coordinate difference
# colors = []
# colors.append([51 / 256., 204 / 256., 51 / 256.])
# set up the plot
plt.style.use('ggplot')
# get info for the plot titles
plot_title, proc_options, rx_geod = amc.get_title_info(logger=logger)
# subplots
fig, ax = plt.subplots(nrows=2, ncols=3, figsize=(16.0, 11.0))
# figure title
fig.suptitle('{title:s}'.format(title=plot_title), **glc.title_font)
# plot annotations
ax[0][0].annotate('{conf:s}'.format(conf=amc.dRTK['glab_out']),
xy=(0, 1),
xycoords='axes fraction',
xytext=(0, 0),
textcoords='offset pixels',
horizontalalignment='left',
verticalalignment='bottom',
weight='ultrabold',
fontsize='small')
ax[0][2].annotate(proc_options,
xy=(1, 1),
xycoords='axes fraction',
xytext=(0, 0),
textcoords='offset pixels',
horizontalalignment='right',
verticalalignment='bottom',
weight='ultrabold',
fontsize='small')
# copyright this
ax[1][2].annotate(r'$\copyright$ Alain Muls ([email protected])',
xy=(1, 0),
xycoords='axes fraction',
xytext=(0, -70),
textcoords='offset pixels',
horizontalalignment='right',
verticalalignment='bottom',
weight='ultrabold',
fontsize='x-small')
# annotate with reference position
txt_rx_posn = r'$\varphi = ${lat:.8f}, $\lambda = ${lon:.8f}'.format(
lat=rx_geod[0], lon=rx_geod[1])
ax[1][0].annotate(txt_rx_posn,
xy=(0, 0),
xycoords='axes fraction',
xytext=(0, -70),
textcoords='offset pixels',
horizontalalignment='left',
verticalalignment='bottom',
weight='strong',
fontsize='medium')
# get the marker styles
markerBins = glc.predefined_marker_styles()
# go over all PDOP bins and plot according to the markersBin defined
for i in range(0, len(amc.dRTK['dop_bins']) - 1):
binInterval = 'bin{:d}-{:.0f}'.format(amc.dRTK['dop_bins'][i],
amc.dRTK['dop_bins'][i + 1])
logger.info('{func:s}: binInterval = {bin!s}'.format(bin=binInterval,
func=cFuncName))
index4Bin = (dfCrd['PDOP'] > amc.dRTK['dop_bins'][i]) & (
dfCrd['PDOP'] <= amc.dRTK['dop_bins'][i + 1])
# get the axis
axis = ax[i // 3][i % 3]
# get th epercentage of observations within this dop_bin
bin_percentage = '{perc:.1f}'.format(
perc=amc.dRTK['dgLABng']['stats']['dop_bin'][binInterval]['perc'] *
100)
lblBin = r'{!s} $\leq$ PDOP $<$ {!s} ({:s}%, #{:d})'.format(
amc.dRTK['dop_bins'][i], amc.dRTK['dop_bins'][i + 1],
bin_percentage,
amc.dRTK['dgLABng']['stats']['dop_bin'][binInterval]['count'])
logger.info('{func:s}: {bin:s}'.format(func=cFuncName, bin=lblBin))
# define center position
if center == 'origin':
wavg_E = wavg_N = 0
else:
wavg_E = amc.dRTK['dgLABng']['stats']['crd']['dE0']['wavg']
wavg_N = amc.dRTK['dgLABng']['stats']['crd']['dN0']['wavg']
circle_center = (wavg_E, wavg_N)
# draw circles for distancd evaluation on plot
for radius in np.linspace(scale / 5, scale * 2, num=10):
newCircle = plt.Circle(circle_center,
radius,
color='blue',
fill=False,
clip_on=True,
alpha=0.4)
axis.add_artist(newCircle)
# annotate the radius for 1, 2, 5 and 10 meter
# if radius in [1, 2, 3, 4, 5, 10]:
# axis.annotate('{radius:.2f}m'.format(radius=radius), xy=(np.pi / 4, radius), xytext=(np.pi / 4, radius), textcoords='polar', xycoords='polar', clip_on=True, color='blue', alpha=0.4)
axis.annotate('{radius:.2f}m'.format(radius=radius),
xy=(wavg_E + np.cos(np.pi / 4) * radius,
wavg_N + np.sin(np.pi / 4) * radius),
xytext=(wavg_E + np.cos(np.pi / 4) * radius,
wavg_N + np.sin(np.pi / 4) * radius),
clip_on=True,
color='blue',
alpha=0.4)
# plot the coordinates for each bin
axis.plot(dfCrd.loc[index4Bin, 'dE0'],
dfCrd.loc[index4Bin, 'dN0'],
label=r'{!s} $\leq$ PDOP $<$ {!s} ({:s}%)'.format(
amc.dRTK['dop_bins'][i], amc.dRTK['dop_bins'][i + 1],
bin_percentage),
**markerBins[(i)])
# lcoation of legend
axis.legend(loc='best', markerscale=6, fontsize='x-small')
# add titles to axes
axis.set_xlim([wavg_E - scale, wavg_E + scale])
axis.set_ylim([wavg_N - scale, wavg_N + scale])
axis.set_aspect(aspect='equal', adjustable='box')
# nema the axis
if i > 2:
axis.set_xlabel('East [m]', fontsize='large')
axis.set_ylabel('North [m]', fontsize='large')
# save the plot in subdir png of GNSSSystem
dir_png = os.path.join(amc.dRTK['dir_root'],
amc.dRTK['dgLABng']['dir_glab'], 'png')
png_filename = os.path.join(
dir_png, '{out:s}-scatter-bins.png'.format(
out=amc.dRTK['glab_out'].replace('.', '-')))
amutils.mkdir_p(dir_png)
fig.savefig(png_filename, dpi=fig.dpi)
logger.info('{func:s}: created scatter plot {plot:s}'.format(
func=cFuncName, plot=colored(png_filename, 'green')))
if showplot:
plt.show(block=True)
else:
plt.close(fig)
def plot_glab_xdop(dfCrd: pd.DataFrame,
logger: logging.Logger,
showplot: bool = False):
"""
plot_xdop plot the DOP values vs time
"""
cFuncName = colored(os.path.basename(__file__),
'yellow') + ' - ' + colored(
sys._getframe().f_code.co_name, 'green')
logger.info('{func:s}: plotting xDOP'.format(func=cFuncName))
# set up the plot
plt.style.use('ggplot')
# get info for the plot titles
plot_title, proc_options, rx_geod = amc.get_title_info(logger=logger)
# subplots
fig, ax = plt.subplots(nrows=1, ncols=1, figsize=(12.0, 8.0))
# figure title
fig.suptitle('{title:s}'.format(title=plot_title), **glc.title_font)
# plot annotations
ax.annotate('{conf:s}'.format(conf=amc.dRTK['glab_out']),
xy=(0, 1),
xycoords='axes fraction',
xytext=(0, 0),
textcoords='offset pixels',
horizontalalignment='left',
verticalalignment='bottom',
weight='ultrabold',
fontsize='small')
ax.annotate(proc_options,
xy=(1, 1),
xycoords='axes fraction',
xytext=(0, 0),
textcoords='offset pixels',
horizontalalignment='right',
verticalalignment='bottom',
weight='ultrabold',
fontsize='small')
# copyright this
ax.annotate(r'$\copyright$ Alain Muls ([email protected])',
xy=(1, 0),
xycoords='axes fraction',
xytext=(0, -50),
textcoords='offset pixels',
horizontalalignment='right',
verticalalignment='bottom',
weight='ultrabold',
fontsize='x-small')
# plot the xDOP values vs time
for (xdop, dop_color) in zip(dfCrd[glc.dgLab['OUTPUT']['XDOP']],
glc.dop_colors):
if xdop == 'PDOP':
ax.fill_between(x=dfCrd['DT'],
y1=0,
y2=dfCrd[xdop],
color=dop_color,
linestyle='-',
linewidth=0,
interpolate=False,
alpha=0.15)
ax.plot(dfCrd['DT'],
dfCrd[xdop],
color=dop_color,
linestyle='',
marker='.',
markersize=1,
label=xdop)
# lcoation of legend
ax.legend(loc='best', markerscale=6, fontsize='x-small')
# add titles to axes
ax.set_ylim([0, 10])
# name the axis
ax.set_ylabel('DOP [-]', fontsize='large')
# set limits for the x-axis
ax.set_xlim([dfCrd['DT'].iloc[0], dfCrd['DT'].iloc[-1]])
# create the ticks for the time axis
dtFormat = plot_utils.determine_datetime_ticks(startDT=dfCrd['DT'].iloc[0],
endDT=dfCrd['DT'].iloc[-1])
if not dtFormat['minutes']:
# # ax.xaxis.set_major_locator(dates.MinuteLocator(byminute=range(10, 60, 10), interval=1))
# pass
# else:
ax.xaxis.set_major_locator(
dates.HourLocator(interval=dtFormat['hourInterval'])) # every
ax.xaxis.set_minor_locator(dates.DayLocator(interval=1)) # every day
ax.xaxis.set_minor_formatter(dates.DateFormatter('\n%d-%m-%Y'))
ax.xaxis.set_major_formatter(
dates.DateFormatter('%H:%M')) # hours and minutes
ax.xaxis.set_tick_params(rotation=0)
for tick in ax.xaxis.get_major_ticks():
tick.label1.set_horizontalalignment('center')
# save the plot in subdir png of GNSSSystem
dir_png = os.path.join(amc.dRTK['dir_root'],
amc.dRTK['dgLABng']['dir_glab'], 'png')
png_filename = os.path.join(
dir_png,
'{out:s}-DOP.png'.format(out=amc.dRTK['glab_out'].replace('.', '-')))
amutils.mkdir_p(dir_png)
fig.savefig(png_filename, dpi=fig.dpi)
logger.info('{func:s}: created plot {plot:s}'.format(func=cFuncName,
plot=colored(
png_filename,
'green')))
if showplot:
plt.show(block=True)
else:
plt.close(fig)
def plot_glab_position(dfCrd: pd.DataFrame,
scale: float,
logger: logging.Logger,
showplot: bool = False):
"""
plot_glab_position plots the position difference wrt to Nominal a priori position
"""
cFuncName = colored(os.path.basename(__file__),
'yellow') + ' - ' + colored(
sys._getframe().f_code.co_name, 'green')
logger.info('{func:s}: plotting position offset'.format(func=cFuncName))
# set up the plot
plt.style.use('ggplot')
# get info for the plot titles
plot_title, proc_options, rx_geod = amc.get_title_info(logger=logger)
# subplots
fig, ax = plt.subplots(nrows=4, ncols=1, sharex=True, figsize=(16.0, 12.0))
fig.suptitle('{title:s}'.format(title=plot_title), **glc.title_font)
# plot annotations
ax[0].annotate('{conf:s}'.format(conf=amc.dRTK['glab_out']),
xy=(0, 1),
xycoords='axes fraction',
xytext=(0, 0),
textcoords='offset pixels',
horizontalalignment='left',
verticalalignment='bottom',
weight='ultrabold',
fontsize='small')
ax[0].annotate(proc_options,
xy=(1, 1),
xycoords='axes fraction',
xytext=(0, 0),
textcoords='offset pixels',
horizontalalignment='right',
verticalalignment='bottom',
weight='ultrabold',
fontsize='small')
# copyright this
ax[-1].annotate(r'$\copyright$ Alain Muls ([email protected])',
xy=(1, 0),
xycoords='axes fraction',
xytext=(0, -50),
textcoords='offset pixels',
horizontalalignment='right',
verticalalignment='bottom',
weight='ultrabold',
fontsize='x-small')
# plot the ENU difference xwrt nominal initial position and display the standard deviation, xDOP
for i, (crd, sdCrd) in enumerate(
zip(glc.dgLab['OUTPUT']['dENU'], glc.dgLab['OUTPUT']['sdENU'])):
# select the axis to use for this coordinate
axis = ax[i]
# get the statistics for this coordinate
crd_stats = amc.dRTK['dgLABng']['stats']['crd'][crd]
# color for markers and alpha colors for error bars
rgb = mpcolors.colorConverter.to_rgb(glc.enu_colors[i])
rgb_error = amutils.make_rgb_transparent(rgb, (1, 1, 1), 0.4)
# plot coordinate differences and error bars
axis.errorbar(x=dfCrd['DT'].values,
y=dfCrd[crd],
yerr=dfCrd[sdCrd],
linestyle='none',
fmt='.',
ecolor=rgb_error,
capthick=1,
markersize=1,
color=glc.enu_colors[i])
# set dimensions of y-axis (double for UP scale)
if crd == 'dU0':
axis.set_ylim(
[crd_stats['wavg'] - scale * 2, crd_stats['wavg'] + scale * 2])
else:
axis.set_ylim(
[crd_stats['wavg'] - scale, crd_stats['wavg'] + scale])
axis.set_ylabel('{crd:s} [m]'.format(crd=crd, fontsize='large'),
color=glc.enu_colors[i],
weight='ultrabold')
# annotate each subplot with its reference position
stat_str = '\n'.join(
(r'gLab={:.3f} ($\pm${:.3f})'.format(crd_stats['kf'],
crd_stats['sdkf']), r'',
r'WAvg={:.3f} ($\pm${:.3f})'.format(crd_stats['wavg'],
crd_stats['sdwavg']), r'',
r'Range=[{:.2f}..{:.2f}]'.format(crd_stats['max'],
crd_stats['min'])))
# place a text box in upper left in axes coords
axis.text(1.01,
0.95,
stat_str,
transform=axis.transAxes,
fontsize='small',
verticalalignment='top',
color=glc.enu_colors[i],
weight='strong')
# annotatetxt = markerAnnotation(crd, sdCrd)
# axis.annotate(annotatetxt, xy=(1, 1), xycoords='axes fraction', xytext=(0, 0), textcoords='offset pixels', horizontalalignment='right', verticalalignment='bottom', weight='ultrabold', fontsize='large')
# title of sub-plot
# axis.set_title('{crd:s} offset'.format(crd=str.capitalize(crd), fontsize='large'))
axis.set_xlabel('')
# last subplot: number of satellites & PDOP
# plot #SVs on left axis
axis = ax[-1]
axis.set_ylim([0, 24])
axis.set_ylabel('#SVs [-]',
fontsize='large',
color='grey',
weight='ultrabold')
# axis.set_xlabel('Time [sec]', fontsize='large')
# plot the number of SVs and color as function of the GNSSs used
for (i_gnss, gnss, gnss_color) in zip([1, 1, 2], ['GAL', 'GPS', ''],
['blue', 'red', 'grey']):
if i_gnss == 2:
axis.fill_between(dfCrd['DT'].values,
0,
dfCrd['#SVs'],
where=(dfCrd['#GNSSs'] == i_gnss),
alpha=0.25,
linestyle='-',
linewidth=2,
color=gnss_color,
interpolate=False)
else:
axis.fill_between(dfCrd['DT'].values,
0,
dfCrd['#SVs'],
where=((dfCrd['#GNSSs'] == i_gnss) &
(gnss == dfCrd['GNSSs'])),
alpha=0.25,
linestyle='-',
linewidth=2,
color=gnss_color,
interpolate=False)
# plot PDOP on second y-axis
axis_right = axis.twinx()
axis_right.set_ylim([0, 10])
axis_right.set_ylabel('PDOP [-]',
fontsize='large',
color='darkorchid',
weight='ultrabold')
# plot PDOP value
axis_right.plot(dfCrd['DT'],
dfCrd['PDOP'],
linestyle='',
marker='.',
markersize=1,
color='darkorchid',
label='PDOP')
# set limits for the x-axis
axis.set_xlim([dfCrd['DT'].iloc[0], dfCrd['DT'].iloc[-1]])
# create the ticks for the time axis
dtFormat = plot_utils.determine_datetime_ticks(startDT=dfCrd['DT'].iloc[0],
endDT=dfCrd['DT'].iloc[-1])
if dtFormat['minutes']:
axis.xaxis.set_major_locator(
dates.MinuteLocator(byminute=range(10, 60, 10), interval=1))
else:
axis.xaxis.set_major_locator(
dates.HourLocator(interval=dtFormat['hourInterval'])) # every
axis.xaxis.set_minor_locator(dates.DayLocator(interval=1)) # every day
axis.xaxis.set_minor_formatter(dates.DateFormatter('\n%d-%m-%Y'))
axis.xaxis.set_major_formatter(
dates.DateFormatter('%H:%M')) # hours and minutes
axis.xaxis.set_tick_params(rotation=0)
for tick in axis.xaxis.get_major_ticks():
tick.label1.set_horizontalalignment('center')
# save the plot in subdir png of GNSSSystem
dir_png = os.path.join(amc.dRTK['dir_root'],
amc.dRTK['dgLABng']['dir_glab'], 'png')
png_filename = os.path.join(
dir_png,
'{out:s}-ENU.png'.format(out=amc.dRTK['glab_out'].replace('.', '-')))
amutils.mkdir_p(dir_png)
fig.savefig(png_filename, dpi=fig.dpi)
logger.info('{func:s}: created plot {plot:s}'.format(func=cFuncName,
plot=colored(
png_filename,
'green')))
if showplot:
plt.show(block=True)
else:
plt.close(fig)
return